Now showing items 1-12 of 12

  • A hybrid adaptive control strategy for a smart prosthetic hand 

    Chen, Cheng-Hung; Naidu, D. Subbaram; Pérez Gracia, Alba; Schoen, Marco P. (2009-09)
    Conference report
    Open Access
    This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two- dimensional movement of a prosthetic hand with a ...
  • Design method for a reconfigurable mechanism for finger rehabilitation 

    Sands, Davin; Pérez Gracia, Alba; McCormack, Jay; Wolbrecht, Eric T. (2010)
    Conference report
    Open Access
    This paper presents a design method for a reconfigurable single degree-of-freedom mechanism for robotic assisted finger therapy following a stroke. The mechanism is a four-bar linkage that in combination with variable link ...
  • Design of a robotic hand and simple EMG input controller with a biologically-inspired parallel actuation system for prosthetic applications 

    Crawford, Anthony; Molitor, Jeffrey; Pérez Gracia, Alba; Chiu, Steve (2010)
    Conference report
    Open Access
    This paper presents the mechatronic design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the ...
  • Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications 

    Crawford, Anthony; Pérez Gracia, Alba (ASME PRESS, 2010)
    Conference report
    Restricted access - publisher's policy
    This paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength ...
  • Design of non-anthropomorphic robotic hands for anthropomorphic tasks 

    Simo Serra, Edgar; Moreno-Noguer, Francesc; Pérez Gracia, Alba (2011)
    Conference report
    Open Access
    In this paper, we explore the idea of designing non- anthropomorphic multi-fingered robotic hands for tasks tha t replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the ...
  • Humanoid synthesis using clifford algebra 

    Villa Uriol, Mari Cruz; Pérez Gracia, Alba; Kuester, Falco (IEEE, 2006)
    Conference report
    Open Access
    One of the challenges in the simulation of human motion, either applied to humanoid robots or avatars in virtual environments, is to design a kinematics structure and a set of joint trajectories that move a robot or avatar ...
  • Kinematic synthesis for smart hand prosthetics 

    Duraisamy, Karthikeyan; Isebor, Obiajulu; Pérez Gracia, Alba; Schoen, Marco P.; Naidu, Desineni Subbaram (IEEE Press. Institute of Electrical and Electronics Engineers, 2006)
    Conference report
    Open Access
    The dream of a bionic replacement appendage is becoming reality through the use of mechatronic prostheses that utilize the body’s myoelectric signals. This paper presents a process to accurately capture the motion of ...
  • Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks 

    Simo Serra, Edgar; Pérez Gracia, Alba; Moon, Hyosang; Robson, Nina (Springer, 2012)
    Conference report
    Open Access
    In this paper we present a novel method of designing multi-fingered robotic hands using tasks composed of both finite and infinitesimal motion. The method is based on representing the robotic hands as a kinematic chain ...
  • Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation 

    Wolbrecht, Eric T.; Reinkensmeyer, David J.; Pérez Gracia, Alba (2011)
    Conference report
    Open Access
    This paper presents the kinematic design of a single degree-of-freedom exoskeleton mechanism: a planar eight-bar mechanism for finger curling. The mechanism is part of a fingerthumb robotic device for hand therapy that ...
  • Synthesis of spatial RPRP closed linkages for a given screw system 

    Pérez Gracia, Alba (ASME PRESS, 2011-04-11)
    Article
    Open Access
    The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not ...
  • Synthesis of spatial RPRP loops for a given screw system 

    Pérez Gracia, Alba (Springer, 2010)
    Conference report
    Open Access
    The dimensional synthesis of spatial chains for a prescribed set of positions can be used for the design of parallel robots by joining the solutions of each serial chain at the end effector. In some cases, this may yield ...
  • The Kinematic synthesis of mechanically constrained planar 3R chains 

    Soh, Gim Song; Pérez Gracia, Alba; McCarthy, J. M. (2006)
    Conference report
    Open Access
    In this paper, we consider the problem of designing mechanical constraints for a planar serial chain formed with three revolute joints, denoted as the 3R chain. Our focus is on the various ways that two RR chains can be ...